ROBOTIQ 2-Finger 85 - Page 65

Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 65
Step 6: Move the robot to the release location
Step 7: Open the Gripper at full speed and full force
Request is: 09 10 03 E8 00 03 06 09 00 00 00 FF FF 72 19
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of registers written to
06 Number of data bytes to follow (3 registers x 2 bytes/register = 6 bytes)
0900
Value written to register 0x03E9 (ACTION REQUEST = 0x09 and GRIPPER OPTIONS = 0x00): , rACT = 1 for "Activate Gripper" rGTO = 1 for
"Go to Requested Position"
0000
Value written to register 0x03EA (GRIPPER OPTIONS 2 = 0x00 and POSITION REQUEST = 0x00): rPR = 0/255 for full opening of the
Gripper (partial opening would also be possible)
FFFF Value written to register 0x03EB (SPEED = 0xFF and FORCE = 0xFF): full speed and full force
7219 Cyclic Redundancy Check (CRC)
Response is: 09 10 03 E8 00 03 01 30
Bits Description
09 SlaveID
10 Function Code 16 (Preset Multiple Registers)
03E8 Address of the first register
0003 Number of written registers
0130 Cyclic Redundancy Check (CRC)